TrafficLight.h

Go to the documentation of this file.

// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/client/TrafficSign.h"
#include "carla/rpc/TrafficLightState.h"
#include "carla/geom/BoundingBox.h"
 
namespace carla {
namespace client {
 
  class TrafficLight : public TrafficSign {
 
  public:
 
    explicit TrafficLight(ActorInitializer init) : TrafficSign(std::move(init)) {}
 
    void SetState(rpc::TrafficLightState state);
 
    /// Return the current state of the traffic light.
    ///
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    rpc::TrafficLightState GetState() const;
 
    void SetGreenTime(float green_time);
 
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    float GetGreenTime() const;
 
    void SetYellowTime(float yellow_time);
 
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    float GetYellowTime() const;
 
    void SetRedTime(float red_time);
 
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    float GetRedTime() const;
 
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    float GetElapsedTime() const;
 
    void Freeze(bool freeze);
 
    /// @note This function does not call the simulator, it returns the data
    /// received in the last tick.
    bool IsFrozen() const;
 
    /// Returns the index of the pole in the traffic light group
    uint32_t GetPoleIndex();
 
    /// Return all traffic lights in the group this one belongs to.
    ///
    /// @note This function calls the simulator
    std::vector<SharedPtr<TrafficLight>> GetGroupTrafficLights();
 
    // resets the timers and states of all groups
    void ResetGroup();
 
    std::vector<geom::BoundingBox> GetLightBoxes() const;
 
    road::SignId GetOpenDRIVEID() const;
 
  };
 
} // namespace client
} // namespace carla